#

Junjie

4 天以前 691f0d4c4836c75fefa1d3b7fba4a72153751dd4

 src/main/java/com/zy/asrs/controller/ShuttleController.java

@@ -29,13 +29,11 @@
import com.zy.core.cache.SlaveConnection;
import com.zy.core.dispatcher.ShuttleDispatchUtils;
import com.zy.core.enums.*;
import com.zy.core.model.ShuttleSlave;
import com.zy.core.model.command.ShuttleAssignCommand;
import com.zy.core.model.command.ShuttleCommand;
import com.zy.core.model.command.ShuttleRedisCommand;
import com.zy.core.model.param.ShuttleMoveLocParam;
import com.zy.core.model.protocol.ShuttleProtocol;
import com.zy.core.properties.SlaveProperties;
import com.zy.core.thread.ShuttleThread;
import lombok.extern.slf4j.Slf4j;
import org.springframework.beans.factory.annotation.Autowired;
@@ -338,17 +336,13 @@
            //托盘下降
            List<ShuttleCommand> commands = shuttleOperaUtils.getShuttleLiftCommand(assignCommand, shuttleThread, false);
            assignCommand.setCommands(commands);
        } else if (shuttleTaskModeType == ShuttleTaskModeType.CHARGE) {
            //充电开关
            boolean charge = false;
            if (shuttleProtocol.getHasCharge()) {
                //已充电，关闭充电
                charge = false;
            }else {
                //开启充电
                charge = true;
            }
            List<ShuttleCommand> commands = shuttleOperaUtils.getShuttleChargeCommand(assignCommand, shuttleThread, charge);
        } else if (shuttleTaskModeType == ShuttleTaskModeType.CHARGE_ON) {
            //充电开
            List<ShuttleCommand> commands = shuttleOperaUtils.getShuttleChargeCommand(assignCommand, shuttleThread, true);
            assignCommand.setCommands(commands);
        } else if (shuttleTaskModeType == ShuttleTaskModeType.CHARGE_OFF) {
            //充电关
            List<ShuttleCommand> commands = shuttleOperaUtils.getShuttleChargeCommand(assignCommand, shuttleThread, false);
            assignCommand.setCommands(commands);
        } else if (shuttleTaskModeType == ShuttleTaskModeType.RESET) {
            //复位